EP3326440B1 - Procédé de détermination de paramètres d'étalonnage d'une machine de distribution agricole - Google Patents

Procédé de détermination de paramètres d'étalonnage d'une machine de distribution agricole Download PDF

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Publication number
EP3326440B1
EP3326440B1 EP17401117.1A EP17401117A EP3326440B1 EP 3326440 B1 EP3326440 B1 EP 3326440B1 EP 17401117 A EP17401117 A EP 17401117A EP 3326440 B1 EP3326440 B1 EP 3326440B1
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EP
European Patent Office
Prior art keywords
parameters
spreading
measuring system
measurement
determining
Prior art date
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Application number
EP17401117.1A
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German (de)
English (en)
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EP3326440A1 (fr
Inventor
Justus Dreyer
Florian Rahe
Markus Ströbel-Fröschle
Thomas Wessels
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Amazonen Werke H Dreyer SE and Co KG
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Amazonen Werke H Dreyer SE and Co KG
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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C7/00—Sowing
    • A01C7/08—Broadcast seeders; Seeders depositing seeds in rows
    • A01C7/10—Devices for adjusting the seed-box ; Regulation of machines for depositing quantities at intervals
    • A01C7/107—Calibration of the seed rate
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C17/00—Fertilisers or seeders with centrifugal wheels
    • A01C17/006—Regulating or dosing devices
    • A01C17/008—Devices controlling the quantity or the distribution pattern
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C17/00—Fertilisers or seeders with centrifugal wheels
    • A01C17/001—Centrifugal throwing devices with a vertical axis
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/007—Metering or regulating systems

Definitions

  • the invention relates to a method for determining calibration parameters of an agricultural distribution machine according to the preamble of patent claim 1.
  • the first measuring system for adjusting the setting parameters of the centrifugal spreader by characterizing the stray fan by means of the first measuring system and selecting the setting parameters such that the maximum of the stray fan is above the linearly oriented second measuring system , Subsequently, a scattering test is carried out and recorded measurement data with the first and second measuring system for the determination of setting parameters.
  • a disadvantage of this procedure is that the combination of two measuring principles requires very detailed knowledge of the scattering characteristics of the respective scattering material and the scattering behavior of the respective centrifugal spreader. Otherwise, it is possible that the quantity maximum is correctly localized, but the distribution within the scatter fan is incorrectly determined or calculated on the basis of faulty and / or inadequate models. However, it is known that the scattering behavior of grit varieties can be very different, which in the above procedure only with great effort, if at all taken into account can be. However, if this is not taken into account during the measurement, this leads to deviations between the determined and the optimum adjustment parameters of the centrifugal spreader.
  • the object of the present invention is to provide a method for determining calibration parameters that overcomes the disadvantages of the prior art.
  • the actual distribution parameters of the distribution characteristic are detected by means of a second, stationary measuring system.
  • the distribution characteristic is therefore characterized completely or at least as far as desired by the second measuring system.
  • the adjustment parameters of the distributor are adjusted and the distribution characteristic of the distributor is determined again by means of the second measuring system and this is repeated until a desired desired distribution characteristic is characterized by a set of desired distribution parameters is set.
  • measured data are also recorded by means of the first measuring system and from this at least one calibration parameter is determined, which reflects the distribution-product-specific distribution properties.
  • the first measuring system can continuously acquire data or only when the second measuring system indicates that the desired setpoint distribution parameters and thus the desired setpoint distribution characteristic are set.
  • a significantly more accurate way to generate calibration parameters of a first measurement system using a second, stationary measurement system to determine the distribution characteristics of a specific Verteilgutes completely or to the extent desired and set a desired distribution characteristic based on the second measurement parameters.
  • measuring parameters are also recorded by means of the first measuring system, which is designed for use during fieldwork, which reflect the set nominal distribution characteristic.
  • first measurement parameters can serve as calibration parameters for the first measurement system with regard to this specific distribution material.
  • An adjustment of the desired distribution characteristic for the corresponding distribution material on the basis of the first measuring system is then possible by adapting setting parameters of the distributor until the measuring parameters of the first measuring system indicate the desired nominal distribution characteristic.
  • a comparison of the measurement parameters of the first and second measurement systems can be used, for example by forming a quotient or a difference of the measurement parameters or other data derived therefrom.
  • the nominal distribution characteristic can also be considered and from these the corresponding calibration parameters can be determined.
  • the second measuring system in the form of a linear arrangement of collecting containers for a centrifugal spreader can be determined that the average throw of the respective lens 15 m and the average release angle 10 °, measured in a clockwise direction against an imaginary direction, for a particular Verteilgut and a Set of adjustment parameters of the centrifugal spreader.
  • the calibration parameters of the first measuring system can then be derived from these actual values for the distribution material used in each case.
  • the at least one determined distribution-product-specific calibration factor is stored in a control unit of the agricultural distribution machine and the distribution parameters of the agricultural distribution machine are regulated by means of the first measurement system taking into account the at least one calibration factor.
  • the calibration factors determined by application of the method can advantageously be used in fieldwork by the control unit in order to reproduce the distribution parameters set by means of the second, stationary measuring system, or to derive distribution characteristics derived therefrom, for example in quantity, working width, etc.
  • the first measuring system for example a radar measuring system, which is preferably arranged on the agricultural machine, in particular cultivated, is used during the fieldwork, in order to be tested by the control unit and set the desired distribution parameter using the determined calibration parameter.
  • the first and second measurement parameters are determined simultaneously, so that when setting the desired actual distribution parameters directly present the corresponding first measurement parameters and from this the or the calibration factors can be determined.
  • an exemplary set of desired distribution parameters is selected for each distribution material to be deployed and at least one calibration factor determined for the latter, and further calibration factors are determined for said deviating desired distribution parameters by means of a simulation method and stored in the control unit.
  • the respective distribution parameters can vary very greatly for specific distribution goods. For example, the distribution characteristics of fertilizer spreader is very much dependent on the slip and in particular the flight characteristics of each scattering material used. If a specific first calibration factor is determined for an exemplary set of desired distribution parameters for a specific distribution material, this calibration factor already takes into account the specific material properties of the material to be disposed of. For a different set of desired parameters, the respective calibration parameter can then be reliably determined by means of a simulation from the first calibration factor, since the material properties of the scattering material are already taken into account in the first calibration factor.
  • the agricultural distribution machine are systematically changed so that the Distribution parameters are adjusted until the second measurement parameters display desired target distribution parameters with respect to a discharged Verteilguts and the then present first measurement parameters and / or the difference of a first and second measurement parameter and / or the quotient of a first and second measurement parameter with respect to this Verteilguts as calibration parameter of first measuring system are used.
  • a desired desired parameter set is set by systematically adjusting the distribution parameters in the context of a control process.
  • a corresponding calibration parameter can now be determined from a comparison of the second measurement parameters with the first measurement parameters, so that the use of the first measurement system in field use alone set the desired nominal distribution parameters.
  • the first and second measuring systems differ here in particular in that the first measuring system is an electronic measuring system carried along with the machine, in particular attached to the machine and connected to the control device of the agricultural machine, while the second measuring system is a stationary measuring system, especially at the manufacturer of the agricultural machine.
  • the calibration parameters determined for a distributor are adopted for other distribution machines of the same type. It is therefore not necessary to individually determine a calibration factor for each distributor.
  • it can also be provided for distribution machines of different types, in which, however, the components determining the distribution characteristic, for example spreading discs in the fertilizer spreader, and also the first measuring system, for example radar sensors for monitoring the distribution characteristics of the fertilizer spreader, are identical to use the same calibration factors.
  • the method is applied to a fertilizer spreader, wherein the fertilizer spreader via a variable drive for adjusting the speed of centrifugal discs and / or a has controllable metering slide for adjusting a metering opening for changing the application rate and / or a device for adjusting the location of the task of the Verteilguts on the centrifugal disc, the first measuring system sensors, in particular radar sensors, for determining the distribution characteristics and / or application rate and / or throw of the Scrap material and / or torque sensors for determining the application rate of the scattering material comprises and the second measuring system comprises a plurality of stationary measuring vessels, preferably combined with weighing devices for determining the actual application rate and wherein the calibration parameters, the first measurement parameters and / or second measurement parameters with respect to a type of fertilizer and / or at least a set on the basis of the second measurement parameters adjustment parameter of the distributor, such as preferably the setting of the speed of the centrifugal discs and / or the adjustment of the
  • a second, stationary measuring system in particular in a scattering hall, in which the application rate can be determined spatially resolved to combine with a first, entrained with the fertilizer spreader measuring system, such as radar sensors for determining the distribution characteristics or torque sensors for detecting the Drive torque of the centrifugal discs and thus determining the application rate of the centrifugal discs.
  • the calibration factor comprises the first and / or second measurement parameters with respect to the respectively characterized fertilizer type and / or an adjustment parameter of the machine which has been set on the basis of the second measurement parameters. It can be provided, for example, that a specific spreading material with a predetermined, first distribution characteristic to be applied, for example, with a predetermined amount, working width and throw. The setting parameters and thus the actual distribution parameters are then changed on the basis of the second measurement parameters until the desired first distribution characteristic, ie the desired setpoint parameters, have been set.
  • One or more adjustment parameters which have been set for the adjustment of the first distribution characteristic for example speed and / or Dosierschieberö réelle and / or position of the application point of the fertilizer on the centrifugal disc can now be deposited as calibration factors in the control unit of the agricultural machine. It is therefore known which setting parameters are to be selected for a specific type of fertilizer for setting the first distribution characteristic.
  • At least one measuring parameter of the first measuring system is also stored as a calibration parameter, so that during fieldwork the first distribution characteristic can be readjusted on the basis of the measuring parameters of the first measuring system. In this way it is possible to determine calibration factors for different scattered goods and to reproduce the first distribution characteristic in the fieldwork for the particular grit used in each case on the basis of the measurement parameters of the first measuring system.
  • Deviating, second distribution characteristics can be set for the scattering material used in each case by means of simulations and calculation rules from the one or more calibration factors stored for the particular fertilizer used by calculating the first measurement parameters of the first measurement system to be expected for this distribution characteristic.
  • a similar procedure is also conceivable in a seed drill, the seed drill having a first measuring system in the form of at least one preferably optical or piezoelectric seed sensor and the second measuring system a system for determining the amount, in particular the mass, and / or the application rate of seed applied and wherein the at least one calibration parameter with respect to a specific seed is determined by a comparison between the measurement parameters of the first measurement system and the measurement parameters of the second measurement system at a set target application rate and / or target application rate.
  • the measurement parameters determined in each case depend strongly on the seed used, so that the determination of calibration factors for the seed used in each case makes it possible to set desired target distribution parameters during field work as a function of the seed used.
  • the method is also applicable to a field sprayer, wherein the field sprayer has a first measuring system in the form of at least one flow sensor, wherein by means of a second measuring system for Determining the mass actually applied and / or the volume actually applied, at least one calibration-dependent and / or concentration-dependent calibration parameter for setting the delivery pressure necessary for a desired delivery volume, preferably rotational speed of a metering pump and / or opening degree of a valve, by matching the measurement parameters of the first measurement system and the measuring parameters of the second measuring system is determined at a set desired application rate and / or a set desired delivery volume.
  • a calibration factor is to be determined, so that desired target distribution parameters can be set in a reproducible manner for the spraying agent or concentration used in the fieldwork on the basis of the first measurement parameters.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Fertilizing (AREA)
  • Catching Or Destruction (AREA)

Claims (9)

  1. Procédé de détermination de paramètres d'étalonnage d'une machine de distribution agricole, dans lequel la machine de distribution agricole est équipée d'un premier système de mesure destiné à déterminer des premiers paramètres de mesure pour surveiller au moins un paramètre de distribution de la machine de distribution, de préférence le débit d'épandage et/ou la caractéristique de distribution, devant être utilisés pendant le travail sur le terrain, dans lequel la machine de distribution est conçue pour épandre différents produits d'épandage, de préférence différents types d'engrais et/ou différentes semences et/ou différents agents de pulvérisation et dans lequel il est prévu un second système de mesure stationnaire destiné à déterminer des seconds paramètres de mesure pour surveiller au moins un paramètre de distribution de la machine de distribution, en particulier chez le fabricant de la machine de distribution,
    caractérisé par les étapes de procédé consistant à :
    a) épandre un produit à distribuer au moyen de la machine de distribution pour des paramètres de réglage prédéfinis de la machine de distribution,
    b) déterminer des seconds paramètres de mesure au moyen du second système de mesure pour caractériser les paramètres de distribution réels de la machine de distribution,
    c) comparer les paramètres de distribution réels déterminés à des paramètres de distribution nominaux souhaités,
    d) répéter les étapes a) à c) tout en adaptant les paramètres de réglage de la machine de distribution jusqu'à ce que les paramètres de distribution réels coïncident au moins approximativement avec les paramètres de distribution nominaux,
    e) au moins dans le cas où les paramètres de distribution réels coïncident avec les paramètres de distribution nominaux :
    déterminer des premiers paramètres de mesure au moyen du premier système de mesure et déterminer au moins un paramètre d'étalonnage spécifique du produit à distribuer pour le premier système de mesure à partir d'un ajustement des premier et second paramètres de mesure et/ou à partir des premiers paramètres de mesure en tenant compte de la caractéristique de distribution nominale réglée.
  2. Procédé selon la revendication 1, caractérisé par le stockage dudit au moins un paramètre d'étalonnage spécifique du produit à distribuer déterminé dans une unité de commande de la machine de distribution agricole et par la régulation des paramètres de distribution de la machine de distribution agricole au moyen du premier système de mesure en tenant compte dudit au moins paramètre d'étalonnage.
  3. Procédé selon la revendication 1 ou 2, caractérisé par la détermination simultanée de premiers et seconds paramètres de mesure.
  4. Procédé selon la revendication 2 ou 3, caractérisé en ce qu'un exemple de jeu de paramètres de distribution nominaux est sélectionné pour chaque produit à distribuer et en ce qu'il est déterminé pour ledit au moins paramètre d'étalonnage et dans lequel d'autres paramètres d'étalonnage sont déterminés au moyen d'un procédé de simulation et sont stockés dans l'unité de commande pour des paramètres de distribution nominaux différents de ceux-ci.
  5. Procédé selon au moins l'une des revendications précédentes, caractérisé par la modification systématique de paramètres de réglage, de préférence le degré d'ouverture d'un dispositif de dosage et/ou la vitesse de rotation du dispositif de dosage et/ou la vitesse de rotation d'un dispositif de distribution et/ou la vitesse de rotation d'un dispositif de dosage et/ou le degré d'ouverture d'une vanne, de la machine de distribution agricole, de manière à ce que les paramètres de distribution soient adaptés jusqu'à ce que les seconds paramètres de mesure indiquent des paramètres de distribution nominaux souhaités par rapport à un produit à distribuer épandu et à ce que les premiers paramètres de mesure alors présents et/ou la différence entre des premier et second paramètres de mesure et/ou le quotient entre des premier et second paramètres de mesure par rapport audit produit à distribuer soient utilisés en tant que paramètres d'étalonnage du premier système de mesure.
  6. Procédé selon au moins l'une des revendications précédentes, caractérisé en ce que les paramètres d'étalonnage déterminés pour une machine de distribution sont adoptés pour d'autres machines de distribution du même type.
  7. Procédé selon au moins l'une des revendications précédentes, caractérisé en ce que le procédé est appliqué à un épandeur d'engrais, dans lequel l'épandeur d'engrais est équipé d'un mécanisme d'entraînement réglable permettant d'adapter la vitesse de rotation de disques centrifuges et/ou d'un tiroir doseur réglable destiné à adapter une ouverture de dosage afin de modifier le débit d'épandage et/ou d'un dispositif destiné à adapter le point d'épandage du produit à distribuer sur le disque centrifuge,
    dans lequel le premier système de mesure comprend des capteurs, en particulier des capteurs radars, destinés à déterminer la caractéristique de distribution et/ou le débit d'épandage et/ou la distance de projection du produit à distribuer et/ou des capteurs de couple destiné à déterminer le débit d'épandage du produit à épandre, et dans lequel le second système de mesure comprend une pluralité de récipients de mesure fixes, de préférence combinés à des dispositifs de pesage, pour déterminer le débit d'épandage réel, et dans lequel les paramètres d'étalonnage comprennent les premiers paramètres de mesure et/ou les seconds paramètres de mesure par rapport à un type d'engrais et/ou au moins un paramètre de réglage de la machine de distribution qui est réglé sur la base des seconds paramètres de mesure, comme de préférence le réglage de la vitesse de rotation des disques centrifuges et/ou le réglage de l'ouverture de dosage du tiroir doseur et/ou le réglage de la position du point d'épandage du produit à distribuer sur le disque centrifuge.
  8. Procédé selon au moins l'une des revendications 1 à 6, caractérisé en ce que le procédé est appliqué à une machine à semer, dans lequel la machine à semer comprend un premier système de mesure sous la forme d'au moins un capteur de semence, de préférence optique ou piézoélectrique, et en ce que le second système de mesure comprend un système destiné à déterminer la quantité, en particulier la masse, et/ou le taux d'épandage des semences épandues et dans lequel ledit au moins un paramètre d'étalonnage est déterminé par rapport à une semence spécifique au moyen d'un ajustement entre les paramètres de mesure du premier système de mesure et les paramètres de mesure du second système de mesure pour une quantité d'épandage nominale et/ou un débit d'épandage nominal réglés.
  9. Procédé selon au moins l'une des revendications 1 à 6, caractérisé en ce que le procédé est appliqué à un pulvérisateur agricole, dans lequel le pulvérisateur agricole est doté d'un premier système de mesure sous la forme d'au moins un capteur de débit, dans lequel au moins un paramètre d'étalonnage dépendant de l'agent de pulvérisation et/ou de la concentration est déterminé au moyen d'un second système de mesure destiné à déterminer la masse épandue réelle et/ou le volume épandu réel, pour régler la pression de refoulement nécessaire pour un volume de refoulement souhaité, de préférence la vitesse de rotation d'une pompe doseuse et/ou le degré d'ouverture d'une vanne, au moyen d'un ajustement entre les paramètres de mesure du premier système de mesure et les paramètres de mesure du second système de mesure pour une quantité d'épandage nominale réglée et/ou un volume de refoulement nominal réglé.
EP17401117.1A 2016-11-29 2017-11-16 Procédé de détermination de paramètres d'étalonnage d'une machine de distribution agricole Active EP3326440B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016122950.4A DE102016122950A1 (de) 2016-11-29 2016-11-29 Verfahren zur Ermittlung von Kalibrierparametern einer landwirtschaftlichen Verteilmaschine

Publications (2)

Publication Number Publication Date
EP3326440A1 EP3326440A1 (fr) 2018-05-30
EP3326440B1 true EP3326440B1 (fr) 2019-04-24

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EP (1) EP3326440B1 (fr)
DE (1) DE102016122950A1 (fr)
DK (1) DK3326440T3 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019107123B3 (de) * 2019-03-20 2020-06-04 Amazonen-Werke H. Dreyer Gmbh & Co. Kg Verfahren zum Ermitteln des Verschmutzungszustands zumindest eines Sensors einer landwirtschaftlichen Streumaschine

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DE102008052269B4 (de) * 2008-10-18 2018-12-27 Rauch Landmaschinenfabrik Gmbh Einrichtung zum Überprüfen der Querverteilung an Zweischeibenstreuern
DE102013114110A1 (de) 2013-12-16 2015-06-18 Amazonen-Werke H. Dreyer Gmbh & Co. Kg Verfahren zur Ermittlung von Einstelldaten für Zentrifugalstreuer
DE102015210201A1 (de) * 2015-06-02 2016-12-08 Horsch Maschinen Gmbh Verfahren zur Regelung einer Dosiereinheit zur Dosierung von granulatartigem Verteilgut
DE102016108166A1 (de) * 2016-05-03 2017-11-09 Amazonen-Werke H. Dreyer Gmbh & Co. Kg Steuersystem für eine landwirtschaftliche Maschine und Verfahren

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Publication number Publication date
DK3326440T3 (da) 2019-07-15
EP3326440A1 (fr) 2018-05-30
DE102016122950A1 (de) 2018-05-30

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